How to track camera?
Here is a tutorial, camera tracking starts at 7:00
For 3D tracking get Autodesk Matchmover 2014 (free) from here: https://apps.autodesk.com/MAYA/en/Detail/Index?id=3330821554784584637&appLang=en&os=Win64Then watch this:
You can also use built-in Mocha plugin or Blender 3D. There are many tutorials on Youtube for that.
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